CN105152025B - The control method and device and crane of single-cylinder bolt type telescopic boom stretching speed - Google Patents
The control method and device and crane of single-cylinder bolt type telescopic boom stretching speed Download PDFInfo
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- CN105152025B CN105152025B CN201410559812.XA CN201410559812A CN105152025B CN 105152025 B CN105152025 B CN 105152025B CN 201410559812 A CN201410559812 A CN 201410559812A CN 105152025 B CN105152025 B CN 105152025B
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Abstract
The invention discloses a kind of control method of single-cylinder bolt type telescopic boom stretching speed and device and crane, it is related to engineering machinery field, wherein, method includes：Obtain collapsing length of the telescopic arm in automatic telescopic；The current stretching speed of telescopic arm is calculated according to the change of collapsing length；Judge whether current stretching speed is consistent with default stretching speed；If current stretching speed and default stretching speed are inconsistent, the size of variable pump control electric current is adjusted, until current stretching speed is consistent with default stretching speed.The embodiment of the present invention overcomes the shortcomings that telescopic arm stretching speed is unstable, improves the safety and stability in telescopic arm telescopic process.
Description
Technical field
The present invention relates to engineering machinery field, especially a kind of control method of single-cylinder bolt type telescopic boom stretching speed and
Device and crane.
Background technology
At present, single cylinder bolt-type crane all has automatic telescopic function substantially, and the size of stretching speed depends on variable
The control electric current of valve.In the prior art, when controlling telescopic arm flexible, general manually one fixed control electric current value of setting,
So that telescopic arm has certain stretching speed.But the determination of the control electric current value of above-mentioned fixation depends on the warp of designer
Test, if setting is too big, the security of telescopic arm automatic telescopic process can be influenceed；If setting is too small, stretching speed mistake can be made
Slowly, so as to influenceing flexible efficiency.
In actual applications, with the growth of telescopic arm, due to the increase of telescopic arm amount of deflection and telescopic arm frictional force etc. because
The influence of element, the stretching speed of telescopic arm can be unstable, causes to deviate desired stretching speed, so as to influence the stabilization of operation
Property.
The content of the invention
One of technical problem to be solved of the embodiment of the present invention is：Solves telescopic arm flexible speed in telescopic process
Spend the problem of unstable.
According to an aspect of the present invention, there is provided a kind of control method of single-cylinder bolt type telescopic boom stretching speed, including：
Obtain collapsing length of the telescopic arm in automatic telescopic；According to the change of collapsing length be calculated telescopic arm when front stretching speed
Degree；Judge whether current stretching speed is consistent with default stretching speed；If current stretching speed and default stretching speed are inconsistent,
The size of variable pump control electric current is adjusted, until current stretching speed is consistent with default stretching speed.
In one embodiment, the above method also includes：Compare the size of collapsing length and default safe distance, and than
When relatively result is that collapsing length is more than default safe distance, variable pump control electric current is adjusted to 0, to control telescopic arm to stop stretching
Contracting.
In one embodiment, the above method also includes：Judge whether current stretching speed is 0, if current stretching speed
For 0, variable pump control electric current is adjusted to 0, it is flexible to control telescopic arm to stop.
In one embodiment, the above method also includes：Judge whether the pressure of the telescopic oil cylinder in telescopic arm is more than in advance
If safe pressure, if the pressure of the telescopic oil cylinder in telescopic arm is more than default safe pressure, variable pump control electric current is adjusted to 0,
It is flexible to control telescopic arm to stop.
In one embodiment, the above method also includes：Judge whether telescopic arm reaches target location according to collapsing length,
If telescopic arm reaches target location, variable pump control electric current is adjusted to 0, it is flexible to control telescopic arm to stop；If telescopic arm does not reach
To target location, then the operation that the current stretching speed of telescopic arm is calculated in the change according to collapsing length is performed.
According to another aspect of the present invention, there is provided a kind of control device of single-cylinder bolt type telescopic boom stretching speed, including：
Length acquiring unit, for obtaining collapsing length of the telescopic arm in automatic telescopic；Speed computing unit, for according to flexible length
The current stretching speed of telescopic arm is calculated in the change of degree；Speed judgment unit, for judging current stretching speed with presetting
Whether stretching speed is consistent；Current adjustment unit, for when current stretching speed and default stretching speed are inconsistent, adjustment to become
The size of pump control electric current is measured, until current stretching speed is consistent with default stretching speed.
In one embodiment, said apparatus also includes：It is connected respectively with length acquiring unit and current adjustment unit
Length comparing unit；The length comparing unit, for comparing the size of collapsing length and default safe distance；The electric current is adjusted
Whole unit, it is additionally operable to, when collapsing length is more than default safe distance, variable pump control electric current is adjusted into 0, to control telescopic arm
Stop flexible.
In one embodiment, the speed judgment unit, it is additionally operable to judge whether current stretching speed is 0；The electricity
Adjustment unit is flowed, is additionally operable to, when current stretching speed is 0, variable pump control electric current is adjusted into 0, to control telescopic arm to stop stretching
Contracting.
In one embodiment, said apparatus also includes：The pressure judging unit being connected with current adjustment unit；The pressure
Power judging unit, for judging whether the pressure of the telescopic oil cylinder in telescopic arm is more than default safe pressure；The electric current adjustment
Unit, when the pressure for the telescopic oil cylinder being additionally operable in telescopic arm is more than default safe pressure, variable pump control electric current is adjusted to
0, it is flexible to control telescopic arm to stop.
In one embodiment, said apparatus also includes：Respectively with length acquiring unit, current adjustment unit and speed
Spend the length determining unit of computing unit connection；The length determining unit, for whether judging telescopic arm according to collapsing length
Reach target location；The current adjustment unit, it is additionally operable to, when telescopic arm reaches target location, variable pump control electric current be adjusted
It is flexible to control telescopic arm to stop for 0.
According to another aspect of the invention, there is provided a kind of crane, including the single-cylinder bolt that above-mentioned any embodiment provides
The control device of formula telescopic arm stretching speed.
The collapsing length of telescopic arm is changed into stretching speed by the embodiment of the present invention, and is stretched in telescopic process with default
Speed compares in real time, as long as the two is inconsistent, just adjusts the control electric current of variable flow valve in real time, so that stretching speed is stable solid
Fixed preset value.Compared with prior art, the embodiment of the present invention improves the stability in telescopic arm telescopic process.
Below by drawings and examples, technical scheme is described in further detail.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the sketch of single cylinder bolt-type telescopic hydraulic system；
Fig. 2 is the flow chart of control method one embodiment of single-cylinder bolt type telescopic boom stretching speed of the present invention；
Fig. 3 is the flow chart of another embodiment of the control method of single-cylinder bolt type telescopic boom stretching speed of the present invention；
Fig. 4 is the structural representation of control device one embodiment of single-cylinder bolt type telescopic boom stretching speed of the present invention；
Fig. 5 is the structural representation of another embodiment of the control device of single-cylinder bolt type telescopic boom stretching speed of the present invention
Figure；
Fig. 6 is the structural representation of another embodiment of the control device of single-cylinder bolt type telescopic boom stretching speed of the present invention
Figure；
Fig. 7 is the structural representation of another embodiment of the control device of single-cylinder bolt type telescopic boom stretching speed of the present invention
Figure.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other under the premise of creative work is not made
Embodiment, belong to the scope of protection of the invention.
Unless specifically stated otherwise, the part and positioned opposite, the digital table of step otherwise illustrated in these embodiments
Do not limited the scope of the invention up to formula and numerical value.
Simultaneously, it should be appreciated that for the ease of description, the size of the various pieces shown in accompanying drawing is not according to reality
Proportionate relationship draw.
It may be not discussed in detail for technology, method and apparatus known to person of ordinary skill in the relevant, but suitable
In the case of, the technology, method and apparatus should be considered as authorizing part for specification.
In shown here and discussion all examples, any occurrence should be construed as merely exemplary, without
It is as limitation.Therefore, the other examples of exemplary embodiment can have different values.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it need not be further discussed in subsequent accompanying drawing in individual accompanying drawing.
Single cylinder bolt-type crane is that a kind of combinative movement by telescopic oil cylinder and arm pin and cylinder pin realizes that telescopic arm is stretched
The crane of contracting function.Telescopic crane boom is built-in with single cylinder bolt system, assists telescopic oil cylinder to realize stretching for crane arm
Contracting function.Single cylinder bolt system mainly includes cylinder pin, arm pin, arm pin bolt, dovetail groove, dovetail groove oil cylinder and other auxiliary
Facility.Arm pin is the pin on telescopic arm, and it is to lock together each section telescopic arm that it, which is acted on,.Cylinder pin is the pin on telescopic oil cylinder
Son, its effect is to lock together telescopic oil cylinder and telescopic arm.Arm pin bolt is the bolt being connected on arm pin, and it is as arm pin
Extension rod, facilitate lower arm pin.Dovetail groove is the groove profile mechanism of swallowtail shape on telescopic oil cylinder, is connected with dovetail groove oil cylinder,
For lower arm pin bolt.When pulling out arm pin, dovetail groove lower arm pin bolt, band swing arm pin departs from arm pin-and-hole.
It is real that the combinative movement of telescopic oil cylinder and arm pin and cylinder pin realizes that telescopic arm Telescopic comes especially by the following manner
It is existing：During arms pin, arm pin relies on back-moving spring insertion arm pin-and-hole, and two adjacent sections telescopic arm is locked together.When pulling out cylinder pin, cylinder pin
Depart from the cylinder pin-and-hole on telescopic arm, telescopic oil cylinder and telescopic arm depart from, it is possible to achieve empty cylinder stretches.When inserting cylinder pin, the insertion of cylinder pin
Cylinder pin-and-hole on telescopic arm, telescopic oil cylinder and semi-girder is locked together, it is possible to achieve armed is stretched.
The stretching speed of single-cylinder bolt type telescopic boom is mainly changed by controlling the size of variable pump control electric current.Fig. 1
For the sketch of single cylinder bolt-type telescopic hydraulic system.As shown in figure 1, the hydraulic system mainly includes variable pump 101, overflow valve
102nd, solenoid directional control valve 103, balanced valve 104 and telescopic oil cylinder 105.It can be controlled by the control electric current for changing variable pump 101
The discharge capacity of variable pump 101 processed, so as to change the oil inlet quantity of telescopic oil cylinder 105, and then change the stretching speed of telescopic arm.Control electricity
Stream is bigger, and stretching speed is faster；Control electric current is smaller, and stretching speed is slower.Overflow valve 102 is used to ensure that whole hydraulic system exists
Normal operation under Maximum safe pressure.Solenoid directional control valve 103 is used for the flow direction for changing oil mass.Balanced valve 104 is used for fixed flexible
Oil cylinder.For measuring the collapsing length of telescopic arm, and it can be determined to stretch with installation length sensor 106 on telescopic oil cylinder 105
The current location of contracting arm.
Fig. 2 is the schematic flow sheet of control method one embodiment of single-cylinder bolt type telescopic boom stretching speed of the present invention.
As shown in Fig. 2 the method for the present embodiment comprises the following steps：
Step 202, collapsing length of the telescopic arm in automatic telescopic is obtained.
Wherein, collapsing length can be telescopic arm stretch out length, or telescopic arm retract length.
Step 204, the current stretching speed of telescopic arm is calculated according to the change of collapsing length.
Specifically, the collapsing length of telescopic arm can be subjected to differential process in real time, is protracted so as to obtain working as telescopic arm
Contracting speed.
Step 206, judge whether current stretching speed is consistent with default stretching speed.
Wherein, default stretching speed can be set according to actual conditions, such as stretch out or retract according to telescopic arm
Length and desired time can set default stretching speed value accordingly.In addition, the default stretching speed can also be one
Default scope.
Step 208, if current stretching speed and default stretching speed are inconsistent, the size of variable pump control electric current is adjusted,
Until current stretching speed is consistent with default stretching speed.
Specifically, when current stretching speed is less than default stretching speed, the increase of variable pump control electric current can be adjusted；
When current stretching speed is more than default stretching speed, the reduction of variable pump control electric current can be adjusted.Above-mentioned adjustment variable pump control
The size of electric current operates just to be stopped when current stretching speed is consistent with default stretching speed.So, it is ensured that telescopic arm
Stretching speed be maintained at fixed default stretching speed value.
The collapsing length of telescopic arm is changed into stretching speed by the present embodiment by specific algorithm, and in telescopic process
With default stretching speed in real time compared with, as long as the two is inconsistent, with regard to the control electric current of real-time adjust automatically variable flow valve, so that stretching
Contracting velocity-stabilization overcomes the shortcomings that telescopic arm stretching speed is unstable in the prior art, improves and stretch in fixed preset value
Stability and security in contracting arm telescopic process.
In actual applications, safe distance can be set when telescopic arm stretches, further to ensure that telescopic arm stretched
Security in journey.In one embodiment, the above method can also include：Compare the big of collapsing length and default safe distance
It is small, and when comparative result is that collapsing length is more than default safe distance, variable pump control electric current is adjusted to 0, it is flexible to control
Arm stops flexible.Specifically, different safe distances can be set according to actual conditions when telescopic arm extends and retracts, with full
Sufficient application demand.
In addition, in telescopic arm telescopic process, it is possible that in abnormal conditions, such as telescopic process with it is some in arm
Part collides, or does not get collapsing length in time, and this can all cause current stretching speed to be 0.Therefore, for above-mentioned
Abnormal conditions need to take corresponding safeguard measure.In one embodiment, the above method can also include：Front stretching is worked as in judgement
Whether speed is 0, if current stretching speed is 0, variable pump control electric current is adjusted into 0, flexible to control telescopic arm to stop.This reality
When applying example effectively can prevent that abnormal conditions from occurring, the damage of arm inner structure caused by telescopic arm continues to stretch out or retracted.
As another embodiment of the control method of single-cylinder bolt type telescopic boom stretching speed of the present invention, the above method is also
It can include：Judge whether the pressure of the telescopic oil cylinder in telescopic arm is more than default safe pressure, if the flexible oil in telescopic arm
The pressure of cylinder is more than default safe pressure, and variable pump control electric current is adjusted into 0, flexible to control telescopic arm to stop.The present embodiment
By the real-time judge of the pressure to telescopic oil cylinder, the security in telescopic arm telescopic process is further improved.
As another embodiment of the control method of single-cylinder bolt type telescopic boom stretching speed of the present invention, the above method is also
It can include：Judge whether telescopic arm reaches target location according to collapsing length, if telescopic arm reaches target location, by variable pump
Control electric current is adjusted to 0, flexible to control telescopic arm to stop；If telescopic arm miss the mark position, basis in step 204 is performed
The operation of the current stretching speed of telescopic arm is calculated in the change of collapsing length.
Wherein, for specific telescopic arm, target location is specific several definite values, therefore, target location can be according to reality
Border situation is preset.
It is noted that the judgement of above-mentioned safe distance, stretching speed whether the judgement for being 0, telescopic oil cylinder safe pressure
Judgement, the judgement of telescopic arm target location, can choose one or several combined with step 202~208 carry out telescopic arm stretch
The control of contracting speed.The exemplary embodiment that a kind of combination carries out the control of telescopic arm stretching speed is provided below.Wherein, portion
The order judged is divided to change, for example, the order of step 317 and step 319 can exchange.
Fig. 3 is the flow signal of another embodiment of the control method of single-cylinder bolt type telescopic boom stretching speed of the present invention
Figure.As shown in figure 3, the method for the present embodiment may include steps of：
Step 301, start.
Step 303, telescopic arm automatic telescopic, including extend and retract.
Step 305, judge whether collapsing length is more than default safe distance；It is to perform step 321；It is no, perform step
307。
Step 307, judge whether telescopic arm current location is equal to target location according to collapsing length；It is to perform step
321；It is no, perform step 309.
Step 309, (such as carrying out differential process to collapsing length) is calculated according to the change of collapsing length to obtain when extension
Contracting speed V.
Step 311, judge whether current stretching speed V is consistent with default stretching speed；It is to perform step 305；It is no, hold
Row step 313 and step 315.
Step 313, variable flow valve control electric current is adjusted, afterwards repeat step 309 and step 311.
Step 315, judge whether current stretching speed V is 0；It is to perform step 321；It is no, perform step 317.
Step 317, judge whether the pressure of telescopic oil cylinder is more than default safe pressure；It is to perform step 321；It is no, perform
Step 319.
Step 319, telescopic arm continues to stretch.Return to step 305 afterwards.
Step 321, telescopic arm stops flexible.
The present embodiment can not only ensure that the stretching speed of telescopic arm keeps stable, and by collapsing length, flexible
The timely judgement of speed and the pressure of telescopic oil cylinder, telescopic arm can be controlled to stop in time when unusual condition occurs flexible,
Further improve the security in telescopic arm telescopic process.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and its
The difference of its embodiment, same or analogous part cross-reference between each embodiment.For device embodiment
For, because it is substantially corresponding with embodiment of the method, so description is fairly simple, referring to the portion of embodiment of the method in place of correlation
Defend oneself bright.
Fig. 4 is the structural representation of control device one embodiment of single-cylinder bolt type telescopic boom stretching speed of the present invention.
As shown in figure 4, the device of the present embodiment includes：
Length acquiring unit 401, for obtaining collapsing length of the telescopic arm in automatic telescopic.
Exemplarily, linear transducer etc. can be utilized to detect the collapsing length of telescopic arm, length is then issued to and obtains list
Member 401.
Speed computing unit 402, for the current stretching speed of telescopic arm to be calculated according to the change of collapsing length.
Speed judgment unit 403, for judging whether current stretching speed is consistent with default stretching speed.
Current adjustment unit 404, for when current stretching speed and default stretching speed are inconsistent, adjusting variable pump control
The size of electric current processed, until current stretching speed is consistent with default stretching speed.
The collapsing length of telescopic arm is changed into stretching speed by the present embodiment by specific algorithm, and in telescopic process
With default stretching speed in real time compared with, as long as the two is inconsistent, the just control electric current of adjustment variable flow valve in real time, so that flexible speed
Degree is stablized in fixed preset value, overcomes the shortcomings that telescopic arm stretching speed is unstable in the prior art, improves telescopic arm
Security in telescopic process.
Fig. 5 is the structural representation of another embodiment of the control device of single-cylinder bolt type telescopic boom stretching speed of the present invention
Figure.Compared with embodiment illustrated in fig. 4, the device of the present embodiment can also include adjusting with length acquiring unit 401 and electric current respectively
The length comparing unit 501 that whole unit 404 connects, for comparing the size of collapsing length and default safe distance.Correspondingly, originally
In embodiment, current adjustment unit 404, it is additionally operable to when collapsing length is more than default safe distance, by variable pump control electric current
0 is adjusted to, it is flexible to control telescopic arm to stop.
Fig. 6 is the structural representation of another embodiment of the control device of single-cylinder bolt type telescopic boom stretching speed of the present invention
Figure.Compared with embodiment illustrated in fig. 4, the device of the present embodiment can also also include adjusting with length acquiring unit 401, electric current respectively
The length determining unit 601 of whole unit 404 and speed computing unit 402 connection, for judging telescopic arm according to collapsing length
Whether target location is reached.Correspondingly, in the present embodiment, current adjustment unit 404, it is additionally operable to reach target location in telescopic arm
When, variable pump control electric current is adjusted to 0, it is flexible to control telescopic arm to stop.Speed computing unit 402, is additionally operable in telescopic arm
Up to when not arriving target location, the current stretching speed of telescopic arm is calculated according to the change of collapsing length.
In another embodiment of the control device of single-cylinder bolt type telescopic boom stretching speed of the present invention, referring to Fig. 4, speed
Judging unit 403 is spent, is additionally operable to judge whether current stretching speed is 0；Current adjustment unit 404, it is additionally operable to working as front stretching
When speed is 0, variable pump control electric current is adjusted to 0, it is flexible to control telescopic arm to stop.
Fig. 7 is the structural representation of another embodiment of the control device of single-cylinder bolt type telescopic boom stretching speed of the present invention
Figure.Compared with embodiment illustrated in fig. 4, the device of the present embodiment can also also include the pressure being connected with current adjustment unit 404
Judging unit 701, for judging whether the pressure of the telescopic oil cylinder in telescopic arm is more than default safe pressure.Specifically, can be with
The pressure of telescopic oil cylinder is measured using pressure sensor and is sent to pressure judging unit 701.
Correspondingly, in the present embodiment, current adjustment unit 404, the pressure for the telescopic oil cylinder being additionally operable in telescopic arm is big
When default safe pressure, variable pump control electric current is adjusted to 0, it is flexible to control telescopic arm to stop.
The embodiment of the present invention additionally provides a kind of crane, including the single cylinder bolt-type that above-mentioned any embodiment provides stretches
The control device of arm stretching speed.
The collapsing length of telescopic arm is changed into stretching speed by the present invention by specific algorithm, and in telescopic process with
Default stretching speed compares in real time, as long as the two is inconsistent, with regard to the control electric current of real-time adjust automatically variable flow valve, so that flexible
Velocity-stabilization overcomes the shortcomings that telescopic arm stretching speed is unstable in the prior art, improved flexible in fixed preset value
Security in arm telescopic process.Also, by being judged the unusual condition in telescopic arm telescopic process and being controlled in time
Stop telescopic arm stretching, further improve the security in telescopic arm telescopic process.In addition, introduce the pressure to telescopic oil cylinder
Power judges, further improves the security in telescopic arm telescopic process.
Description of the invention provides for the sake of example and description, and is not exhaustively or by the present invention
It is limited to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Select and retouch
State embodiment and be to more preferably illustrate the principle and practical application of the present invention, and one of ordinary skill in the art is managed
The present invention is solved so as to design the various embodiments with various modifications suitable for special-purpose.
Claims (9)
1. a kind of control method of single-cylinder bolt type telescopic boom stretching speed, including：
Obtain collapsing length of the telescopic arm in automatic telescopic；
The current stretching speed of telescopic arm is calculated according to the change of collapsing length；
Judge whether current stretching speed is consistent with default stretching speed；
If current stretching speed and default stretching speed are inconsistent, the size of variable pump control electric current is adjusted, until working as front stretching
Speed is consistent with default stretching speed；
Methods described also includes：
Compare the size of collapsing length and default safe distance, and be that collapsing length is more than default safe distance in comparative result
When, variable pump control electric current is adjusted to 0, it is flexible to control telescopic arm to stop.
2. according to the method for claim 1, it is characterised in that also include：
Judge whether current stretching speed is 0, if current stretching speed is 0, variable pump control electric current is adjusted to 0, stretched with control
Contracting arm stops flexible.
3. according to the method for claim 1, it is characterised in that also include：
Judge whether the pressure of the telescopic oil cylinder in telescopic arm is more than default safe pressure, if the pressure of the telescopic oil cylinder in telescopic arm
Power is more than default safe pressure, and variable pump control electric current is adjusted into 0, flexible to control telescopic arm to stop.
4. according to the method for claim 1, it is characterised in that also include：
Judge whether telescopic arm reaches target location according to collapsing length, if telescopic arm reaches target location, variable pump is controlled
Electric current is adjusted to 0, flexible to control telescopic arm to stop；
If telescopic arm miss the mark position, perform the change according to collapsing length and ought protracting for telescopic arm is calculated
The operation of contracting speed.
5. a kind of control device of single-cylinder bolt type telescopic boom stretching speed, including：
Length acquiring unit, for obtaining collapsing length of the telescopic arm in automatic telescopic；
Speed computing unit, for the current stretching speed of telescopic arm to be calculated according to the change of collapsing length；
Speed judgment unit, for judging whether current stretching speed is consistent with default stretching speed；
Current adjustment unit, for when current stretching speed and default stretching speed are inconsistent, adjusting variable pump control electric current
Size, until current stretching speed is consistent with default stretching speed；
Described device also includes the length comparing unit being connected respectively with length acquiring unit and current adjustment unit；
The length comparing unit, for comparing the size of collapsing length and default safe distance；
The current adjustment unit, it is additionally operable to, when collapsing length is more than default safe distance, variable pump control electric current is adjusted to
0, it is flexible to control telescopic arm to stop.
6. device according to claim 5, it is characterised in that
The speed judgment unit, it is additionally operable to judge whether current stretching speed is 0；
The current adjustment unit, it is additionally operable to, when current stretching speed is 0, variable pump control electric current is adjusted into 0, stretched with control
Contracting arm stops flexible.
7. device according to claim 5, it is characterised in that also include：The pressure being connected with current adjustment unit judges
Unit,
The pressure judging unit, for judging whether the pressure of the telescopic oil cylinder in telescopic arm is more than default safe pressure；
The current adjustment unit, when the pressure for the telescopic oil cylinder being additionally operable in telescopic arm is more than default safe pressure, it will become
Amount pump control electric current is adjusted to 0, flexible to control telescopic arm to stop.
8. device according to claim 5, it is characterised in that also include single with length acquiring unit, electric current adjustment respectively
Member and the length determining unit of speed computing unit connection；
The length determining unit, for judging whether telescopic arm reaches target location according to collapsing length；
The current adjustment unit, it is additionally operable to, when telescopic arm reaches target location, variable pump control electric current is adjusted into 0, with control
Telescopic arm processed stops flexible.
9. a kind of crane, it is characterised in that including any described single-cylinder bolt type telescopic boom stretching speeds of claim 5-8
Control device.
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| CN201410559812.XA CN105152025B (en) | 2014-10-20 | 2014-10-20 | The control method and device and crane of single-cylinder bolt type telescopic boom stretching speed |
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| CN201410559812.XA CN105152025B (en) | 2014-10-20 | 2014-10-20 | The control method and device and crane of single-cylinder bolt type telescopic boom stretching speed |
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| CN103663153A (en) * | 2013-12-10 | 2014-03-26 | 中联重科股份有限公司 | Crane winding control method, device and system and crane |
| CN103879907A (en) * | 2014-02-25 | 2014-06-25 | 中联重科股份有限公司 | Control method and system of single cylinder bolt telescoping mechanism |
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